CN202178871U - Positioning system for indoor airships - Google Patents
Positioning system for indoor airships Download PDFInfo
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- CN202178871U CN202178871U CN2011202487593U CN201120248759U CN202178871U CN 202178871 U CN202178871 U CN 202178871U CN 2011202487593 U CN2011202487593 U CN 2011202487593U CN 201120248759 U CN201120248759 U CN 201120248759U CN 202178871 U CN202178871 U CN 202178871U
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Abstract
The utility model discloses a positioning system for indoor airships which is designed for solving technical problem that errors are produced in UWB (Ultra Wide Band) positioning data when an airship is too close to ground as the airship in indoor environment, unlike the airship in outdoor environment cannot directly extract navigation data and time information from satellite broadcast as well as be independently positioned by using an UWB ultra wide bandwidth. The positioning system for indoor airships comprises an UWB (ultra wide bandwidth) indoor positioning sensor, a positioning system communication link, an UWB positioning server, a network switch and a network connection part, wherein the USB positioning sensors are connected to the network switch through Ethernet and comprise a main sensor and other secondary sensors; a time synchronization line of each secondary sensor is connected to the main sensor through shielded Ethernet line; each UWB indoor positioning sensor is mounted in an effective indoor space for the flight of airship in order for positioning the airship loaded with positioning signs; airship positioning information is received via a ground station; the indoor positioning system is connected with the UWB positioning server through the network switch to obtain the airship positioning information. The positioning system for indoor airships has the advantages that the indoor positioning system is combined with the UWB indoor positioning server through ultra wide band wireless communication technology to position indoor airships by using network resource; therefore, the positioning system for indoor airships improves positioning precision and instantaneity.
Description
Technical field:
The utility model relates to a kind of indoor navigation system, relates in particular to the navigation system that is used for indoor dirigible of a kind of ability coordinate identification and avoiding obstacles.
Background technology:
Dirigible flight control system commonly used at present all is to adopt GPS to obtain height and coordinate information; Can demonstrate the current location of dirigible through the information of GPS; Flight path that can the recording and tracking dirigible; The height barometer has been installed in addition, and flight control system need be known current atmospheric pressure, with air speed and the air pressure altitude information that is converted into dirigible.Because dirigible GPS location technology under indoor environment decays to very faint stage greatly because signal receives the influence of building; Want to reach with outdoor and equally directly from satellite broadcasting, extract navigation data and temporal information is impossible; Receive the restriction of flying height also can't use the height barometer indoor, cause indoor dirigible autopilot system to need the stand-alone development flight control system perhaps the GPS navigation system to be transformed.
Obtain indoor dirigible position data through adopting the UWB location technology; And convert the virtual GPS data into and supply flight control system to use, overhead cross when near owing to stop and former carrying on as before such as reflection can cause the UWB locator data error to occur but use UWB ultra broadband location technology still to exist separately when dirigible.
Summary of the invention:
The utility model can't reach and outdoor the same direct navigation data and the temporal information from satellite broadcasting, extracted through the GPS location technology under indoor environment in order to solve present dirigible; And use UWB ultra broadband location technology separately; Exist when dirigible and overhead cross when near owing to stopping and former carrying on as before such as reflection can cause the UWB locator data technical problem of error to occur; A kind of navigation system that is used for indoor dirigible is provided; This system is mainly by UWB indoor positioning transducer, and navigation system communication link, UWB location-server, the network switch and network connecting part are formed; Said UWB alignment sensor is that at least four transducers are connected on the network switch through Ethernet; One of them is appointed as master reference; Other is from transducer, and each time synchronized line from transducer is connected on the master reference through the shielding ethernet line; Each said UWB indoor positioning transducer is installed in effective interior space of airship flight, and the dirigible that is loaded with positioning label is positioned; Receive information by ground station's module from the dirigible locating module; Link to each other with the UWB location-server through switch, origin is obtained the dirigible locating information.
Characteristics of the utility model and beneficial effect: the employing The Technology of Ultra combines with UWB indoor positioning transducer and utilizes Internet resources to realize indoor dirigible location.Locating accuracy and real-time have been improved.The utility model uses the UWB location technology to obtain indoor unmanned plane position data; And convert the method that the virtual GPS data supply flight control system to use into; Simultaneously for avoid using separately UWB ultra broadband location technology when overhead mistake is near owing to the UWB locator data error that stops and the reason of reflection etc. causes; The locate mode that adopts UWB location technology and ultrasonic sensor to combine, ultrasonic sensor play the effect that compensation UWB locatees medium-altitude error.The advantage that has: the positioning accuracy of superelevation, ultrafast data update rate and good anti-interference.Positioning accuracy has reached a centimetre rank, and bandwidth reaches 10GHZ nearly, and the Data Update frequency has reached 10HZ.
Be in particular in:
1. ultra wide bandwidth makes the UWB location technology have good penetrability, and block does not influence the location temporarily, so long as in UWB navigation system action scope, can use;
2. the position data form of exporting, the data format of UWB system output is by the relative position coordinates in the artificial definition space, has coordinate system for the irregular applied environment of room area advantage flexibly is set;
3, compare light track and localization and bluetooth location technology, UWB navigation system equipment price is low, networking is simple;
4, the positioning accuracy of UWB navigation system has reached a centimetre rank, and positioning accuracy is high, good reliability.
Description of drawings:
The structural representation of Fig. 1 the utility model
Fig. 2 is the fundamental diagram of UWB indoor positioning transducer among Fig. 1
Embodiment:
Referring to Fig. 1, Fig. 2; The navigation system that is used for indoor dirigible, this system are mainly by UWB indoor positioning transducer, and navigation system communication link, UWB location-server, the network switch and network connecting part are formed; Said UWB alignment sensor is that at least four transducers are connected on the network switch through Ethernet; One of them is appointed as master reference, and other is from transducer, and each time synchronized line from transducer is connected on the master reference through the shielding ethernet line; Each said UWB indoor positioning transducer is installed in effective interior space of airship flight, and the dirigible that is loaded with positioning label is positioned; Receive information by ground station's module from the dirigible locating module; Link to each other with the UWB server through switch, obtain the dirigible locating information.
Said UWB indoor positioning transducer comprises an aerial array and UWB signal receiver.
Each said UWB indoor positioning transducer is positioned at the peak of the indoor useful space, and its working face centre is towards the center of monitoring ground.
Operation principle: the navigation system that is used for indoor dirigible; By UWB indoor positioning transducer; Navigation system communication link, UWB location-server, the network switch and network connecting part are formed; This navigation system is installed in effective interior space of airship flight and is used for the dirigible that is loaded with positioning label is positioned, and each UWB indoor positioning transducer must connect power supply, network and time synchronized line.Real-time tracking is accurately located, and provides the three-dimensional coordinate data of indoor dirigible.Adopt the coordinate that ship carries in the real-time sensing chamber of UWB; The UWB location and navigation technology belongs to a kind of of wireless location technology; Has good penetrability; In UWB navigation system action scope, can use UWB indoor positioning transducer to carry out the dirigible location, it comprises an aerial array and UWB signal receiver; The UWB signal that can send through the detection and location label, the real space position of calculating this label.In the course of the work, each transducer is independently measured deflection and the elevation angle (AOA) of UWB signal; The difference information time of advent (TDOA) then must be measured by pair of sensors, and these two transducers have all been disposed the time synchronized line; The measuring technique that the AOA of this uniqueness, TDOA combine can make up flexible and powerful navigation system.Adopt the algorithm that converts the global absolute location coordinates of GPS into the UWB relative coordinate, positioning accuracy reaches a centimetre rank, and this algorithm is embedded in the ground station control software, has simulated the data output of GPS receiver.
Embodiment
The UWB location and navigation technology belongs to a kind of of wireless location technology, and the location navigation principle mainly is divided into based on arrival angle detecting method (AOA), based on the detection method time of advent (TOA) and the difference detection method time of advent (TDOA) by the difference of its measurement parameter.Based on arriving angle detecting method is that receiver (base station) is measured the arrival direction (incidence angle of electric wave) of reception signal from travelling carriage to two an above base station through array antenna; Carry out cross bearing then and obtain better positional information, based on the time of advent detection side's rule be to position through the time delay or the delay inequality of measure sending and receive between the signal.Through above three kinds of methods all can obtain precision height, good reliability the current three-dimensional location coordinates of dirigible (x, y, z).
The utility model UWB indoor locating system is divided into UWB compact positioning label module, UWB alignment sensor module, navigation system communication link module and UWB location-server module.
UWB location-server module has been used the UWB location technology; Obtain indoor unmanned plane position data from UWB compact positioning label module; And convert the virtual GPS data into and supply flight control system to use; Simultaneously for avoid using separately UWB ultra broadband location technology when overhead mistake is near owing to the UWB locator data error that stops and the reason of reflection etc. causes; The locate mode that UWB alignment sensor module adopts UWB location technology and ultrasonic sensor to combine, ultrasonic sensor play and compensate the effect that UWB locatees medium-altitude error, through navigation system communication link module with UWB indoor positioning transducer, UWB location-server; Be connected with network through the network switch, solved the indoor positioning problem of existing indoor dirigible system well.
A typical sensor unit be the rectangle place of length of side 10-30 rice, transducer is installed in the unit at four angles, guarantee that signal covers whole guarded region well more near heights of ceilings is high more.The centre of transducer is guaranteed transducer abswolute level position towards the center of monitoring ground.Four transducers are connected to the network switch through Ethernet, and one of them is appointed as master reference, and other three then is from transducer, and each time synchronized line from transducer connects master reference through the shielding ethernet line.Thereby 5 centimetres of optimum performances that guarantee system need be guaranteed definitely to be accurate in the position of transducer; At first select an origin of coordinates; Confirm that a horizontal direction is a coordinate X axle; Towards this direction then be the Y axle, upper-lower position is the Z axle then, utilizes the coordinate system of this foundation to mark the coordinate position of transducer.Measure the elevation angle and the drift angle of every transducer, possibly need a plurality of calibration points in some cases with respect to initial point.
Select for use Series 7000 serial UWB indoor positioning transducers to carry out the dirigible location, it comprises an aerial array, and the UWB signal receiver; The UWB signal that can send through the detection and location label, the real space position of calculating this label.In the course of the work, each transducer is independently measured deflection and the elevation angle (AOA) of UWB signal; The difference information time of advent (TDOA) then must be measured by pair of sensors, and these two transducers have all been disposed the time synchronized line; The measuring technique that the AOA of this uniqueness, TDOA combine can make up flexible and powerful navigation system.This transducer is the most important component of indoor positioning unit, and it is installed in effective interior space of airship flight and is used for the dirigible that is loaded with positioning label is positioned, and they must connect power supply, network and time synchronized line.
UWB need accept GPS and transmit the data of returning, and is absolute Coordinate Conversion relative coordinate.UWB and GPS receiver are realized communication through the RS232 interface, and what communication protocol adopted is the NMEA-0183 agreement of international standard.The NMEA-0183 data format has tens kinds, and what UWB used is GPGGA and GPRMC form, and these two kinds of forms provide information such as longitude, latitude, speed, course.
GPGGA is the key data of frame GPS location, also is to use the widest data, and its form is following:
$GPGGA，<1>，<2>，<3>，<4>，<5>，<6>，<7>，<8>，<9>，<10>，<11>，<12>，<13>，<14>*<15><CR><LF>
< 1>the UTC time, form is hhmmss.sss;
< 2>latitude, form are ddmm.mmmm (leading figure place deficiency then mends 0);
< 3>latitude hemisphere, N or S (north latitude or south latitude);
< 4>longitude, form are dddmm.mmmm (leading figure place deficiency then mends 0);
< 5>longitude hemisphere, E or W (east longitude or west longitude);
< 6>alignment quality indication, the 0=location is invalid, and the 1=location is effectively;
< 7>use number of satellite, from 00 to 12 (leading figure place deficiency then mends 0);
< 8>horizontal accuracy, 0.5 to 99.9;
< 9>height on antenna plane off sea ,-9999.9 to 9999.9 meters;
< 10>height unit, M representation unit rice;
< 11>height of the earth ellipsoid RELATIVE SEA LEVEL (999.9 to 9999.9);
< 12>height unit, M representation unit rice;
< 13>the differential GPS data time limit (RTCM SC-104), quantity second of setting up RTCM to transmit at last;
< 14>difference reference base station label, from 0000 to 1023 (leading figure place deficiency then mends 0);
< 15>verification with;
GPRMC is the GPS information of a frame minimum data amount, and its form is following:
$GPRMC，<1>，<2>，<3>，<4>，<5>，<6>，<7>，<8>，<9>，<10>，<11>，<12>*hh<CR><LF>
< 1>UTC (the Coordinated Universal Time) time, hhmmss (Hour Minute Second) form
< 2>positioning states, A=effectively locatees, the invalid location of V=
< 3>Latitude, latitude ddmm.mmmm (degree divides) form (leading figure place deficiency then mends 0)
< 4>latitude hemisphere N (Northern Hemisphere) or S (Southern Hemisphere)
< 5>Longitude, longitude dddmm.mmmm (degree divides) form (leading figure place deficiency then mends 0)
< 6>longitude hemisphere E (east longitude) or W (west longitude)
< 7>ground speed (leading figure place deficiency then mends 0 for 000.0-999.9 joint, Knot)
< 8>course, ground (the 000.0-359.9 degree is a reference data with the geographical north, and leading figure place deficiency then mends 0)
< 9>the UTC date, ddmmyy (day month year) form
< 10>Magnetic Variation, magnetic declination (000.0-180.0 degree, leading figure place deficiency then mends 0)
< 11>Declination, magnetic declination direction, E (east) or W (west)
< 12>Mode Indicator, and the pattern indication (only NMEA0183 3.00 versions output, the A=autonomous positioning, the D=difference, the E=estimation, the N=data are invalid)
< 13>verification with;
Can find out from above data frame format, two frame data provide respectively time, latitude, longitude, speed, course, highly, information such as magnetic declination, the data tail has also adopted data check, use be exclusive or check.
Solved orientation problem, the elements of a fix data of UWB are that (Z), and GPS is the longitude and latitude data format for X, Y.
Rectangular coordinate converts the method for latitude and longitude coordinates into:
(1) gps coordinate conversion
That the locator data of gps satellite location output adopts is world geodetic system WGS84; And mostly adopt country or local coordinate system in the practical applications; What use is geocentric coordinate system; Like national earth coordinates (or Beijing coordinate system), therefore in application, just need the WGS84 locator data be transformed on the national coordinate system.The coordinate data that the gps satellite navigation system collects be (B, L, H), wherein; The origin of coordinates is an earth centroid, and B is a latitude, and L is a longitude, and H is a height above sea level; Promptly be the height to WGS 84 ellipsoids, existing longitude and latitude with the earth converts rectangular coordinate into (X, Y; Z) represent that wherein, the rectangular coordinate system initial point is positioned at the earth's core; The Z axle is a pole axis, northwards for just; The X axle passes the intersection point in the first meridian and equator; The Y axle passes the intersection point of 90 ° of equator and east longitudes, and zero warp of setting coordinate system is a Greenwich meridian, and formula is following: wherein a is the major semiaxis of ellipsoid, and b is that semi-minor axis: θ is a longitude, and δ is a latitude conversion
X＝(v+h)cosδcosθ (1)
Y＝(v+h)cosδsinθ (2)
Z＝((1-e
2)v+h)sinθ (3)
In the formula: v is the radius of curvature at latitude δ place,
δ, θ are respectively the latitude and the longitude of coordinate points,
H is the height of relative ellipsoid,
E is ellipsoid first eccentricity,
Above-mentioned formula is to convert longitude and latitude into rectangular coordinate, otherwise also can (X, Y Z) convert latitude and longitude coordinates into, and θ starts at from prime meridian of Greenwich in the formula with rectangular coordinate.Formula is following:
h＝Xsecδsecθ-v (8)
(2) conversion parameter
Because of the longitude and latitude data that navigation module only uses the GPS receiver to collect, the data of UWB navigation system output are three-dimensional coordinates relatively in the rectangular coordinate system, therefore only need carry out the plane coordinates conversion, that is: with longitude and latitude (θ, δ) convert to (X, Y).Carry out the conversion between the different coordinates system, at first will obtain the conversion parameter between the coordinate system, the specific algorithm of conversion parameter is following:
The mean radius of the earth is 6371.3 kilometers; The conversion yardstick of obtaining earth surface is: 1 "=0.03088893 kilometer=30.88893 meters; the longitude and latitude data theoretical precision that shows GPS output thus can reach Centimeter Level, that is: 0.001 "=3.088893 centimetres.The effective coverage length and width of supposing UWB are respectively 30 meters and 25 meters; Calculating its pairing longitude and latitude position data interval according to above-mentioned formula is: 0-0.9712217 "=0.016187 ' and 0-0.8093514 "=0.0134819 ', the coordinate of dirigible each point in indoor plane just has unique latitude and longitude coordinates corresponding with it.
Claims (3)
1. the navigation system that is used for indoor dirigible; This system is mainly by UWB indoor positioning transducer; Navigation system communication link, UWB location-server, the network switch and network connecting part are formed, and it is characterized in that: said UWB alignment sensor is that at least four transducers are connected on the network switch through Ethernet, and one of them is appointed as master reference; Other is from transducer, and each time synchronized line from transducer is connected on the master reference through the shielding ethernet line; Each said UWB indoor positioning transducer is installed in effective interior space of airship flight, and the dirigible that is loaded with positioning label is positioned; Receive information by ground station's module from the dirigible locating module; Link to each other with the UWB server through switch, obtain the dirigible locating information.
2. the navigation system that is used for indoor dirigible according to claim 1 is characterized in that: said UWB indoor positioning transducer comprises an aerial array and UWB signal receiver.
3. the navigation system that is used for indoor dirigible according to claim 1 is characterized in that: each said UWB indoor positioning transducer is positioned at the peak of the indoor useful space, and its working face centre is towards the center of monitoring ground.
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| CN2011202487593U CN202178871U (en) | 2011-07-14 | 2011-07-14 | Positioning system for indoor airships |
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| CN2011202487593U CN202178871U (en) | 2011-07-14 | 2011-07-14 | Positioning system for indoor airships |
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| CN103587555A (en) * | 2013-11-14 | 2014-02-19 | 张健 | Train running seamless monitoring system based on satellite differential positioning and UWB positioning |
| CN104596501A (en) * | 2015-01-20 | 2015-05-06 | 成都山河空间信息技术有限公司 | Dynamic map location correction method based on mobile geographic information platform |
| CN105573339A (en) * | 2016-01-16 | 2016-05-11 | 深圳先进技术研究院 | Navigation flight system based on rotor airship |
| CN105607644A (en) * | 2016-01-16 | 2016-05-25 | 深圳先进技术研究院 | Non-obstacle flight system |
| CN105699939A (en) * | 2016-01-29 | 2016-06-22 | 申研 | A high-precision real-time positioning device and a method thereof |
| CN106646354A (en) * | 2016-09-14 | 2017-05-10 | 创客数字科技（深圳）有限公司 | Ultra wideband and ultrasonic wave based positioning method and positioning device |
| CN108802713A (en) * | 2018-06-01 | 2018-11-13 | 郑州联睿电子科技有限公司 | Single base station unmanned plane positioning system and landing guidance method |
| CN108919825A (en) * | 2018-05-18 | 2018-11-30 | 国网山东省电力公司青岛供电公司 | The unmanned plane indoor locating system and method for having barrier avoiding function |
| CN109407122A (en) * | 2018-12-06 | 2019-03-01 | 唐振民 | A kind of position location satellite is blocked the Global localization system under environment |
| CN110068791A (en) * | 2019-05-29 | 2019-07-30 | 合肥学院 | Indoor locating system based on array antenna |
| CN113645581A (en) * | 2021-09-24 | 2021-11-12 | 国网上海市电力公司 | Ultra-wideband time difference method mobile positioning system of indoor inspection robot |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103587555A (en) * | 2013-11-14 | 2014-02-19 | 张健 | Train running seamless monitoring system based on satellite differential positioning and UWB positioning |
| CN104596501A (en) * | 2015-01-20 | 2015-05-06 | 成都山河空间信息技术有限公司 | Dynamic map location correction method based on mobile geographic information platform |
| CN105573339B (en) * | 2016-01-16 | 2019-01-11 | 深圳先进技术研究院 | A kind of navigation flight system based on rotor dirigible |
| CN105607644A (en) * | 2016-01-16 | 2016-05-25 | 深圳先进技术研究院 | Non-obstacle flight system |
| CN105573339A (en) * | 2016-01-16 | 2016-05-11 | 深圳先进技术研究院 | Navigation flight system based on rotor airship |
| CN105699939A (en) * | 2016-01-29 | 2016-06-22 | 申研 | A high-precision real-time positioning device and a method thereof |
| CN105699939B (en) * | 2016-01-29 | 2018-02-13 | 申研 | A kind of high-precision real-time positioning apparatus and its method |
| CN106646354A (en) * | 2016-09-14 | 2017-05-10 | 创客数字科技（深圳）有限公司 | Ultra wideband and ultrasonic wave based positioning method and positioning device |
| CN106646354B (en) * | 2016-09-14 | 2020-05-08 | 创客数字科技（深圳）有限公司 | Positioning method and positioning device based on ultra-wideband and ultrasonic waves |
| CN108919825A (en) * | 2018-05-18 | 2018-11-30 | 国网山东省电力公司青岛供电公司 | The unmanned plane indoor locating system and method for having barrier avoiding function |
| CN108802713A (en) * | 2018-06-01 | 2018-11-13 | 郑州联睿电子科技有限公司 | Single base station unmanned plane positioning system and landing guidance method |
| CN109407122A (en) * | 2018-12-06 | 2019-03-01 | 唐振民 | A kind of position location satellite is blocked the Global localization system under environment |
| CN110068791A (en) * | 2019-05-29 | 2019-07-30 | 合肥学院 | Indoor locating system based on array antenna |
| CN110068791B (en) * | 2019-05-29 | 2023-02-03 | 合肥学院 | Indoor positioning system based on array antenna |
| CN113645581A (en) * | 2021-09-24 | 2021-11-12 | 国网上海市电力公司 | Ultra-wideband time difference method mobile positioning system of indoor inspection robot |
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